POWER STEERING POWER STEERING SYSTEM

PS1

POWER STEERING SYSTEM

PRECAUTION
1.

2.

HANDLING PRECAUTIONS FOR SRS AIRBAG

SYSTEM (SEE PAGE RS-1)
NOTICE:
Some service operations affect the SRS airbag. Be
sure to read the precautionary notice for the SRS
airbag before servicing.
PRECAUTIONS FOR REMOVAL, INSTALLATION AND
REPLACEMENT OF ELECTRONIC MOTOR POWER
STEERING COMPONENTS
(a) Be sure to align the front wheels straight ahead
when removing and installing the steering gear
assembly.
(b) When disconnecting the sliding yoke of the steering
column and the pinion shaft of the steering gear
assembly, be sure to put matchmarks before
starting the operation.
(c) When any component related to the steering system
has been removed and either reinstalled or
replaced, perform the steering center point
adjustment (zero point calibration) (see page RS31).
(d) When disconnecting the connector related to the
electronic motor power steering wheel, turn the
power switch ON (IG) (the engine and the hybrid
system are not stopped), center the steering wheel,
turn the power switch OFF, and then disconnect the
connector.
(e) When reconnecting the connector related to the
electronic motor power steering system, ensure that
the power switch is OFF. Center the steering wheel
and then turn the power switch ON (IG) (the engine
and the hybrid system are not stopped).
NOTICE:
Do not turn the power switch ON (IG) (the engine
and the hybrid system are not stopped) when
the steering wheel is not centered.
(f) If the procedures above are not performed out
properly, the steering center point (zero point) will
deviate, which may lead to a difference in steering
effort between right and left. If there is a difference
in steering effort between right and left, perform the
steering center point adjustment (zero point
calibration) (see page RS-31).
NOTICE:
FOR INITIALIZATION
When disconnecting the cable from the negative
(-) battery terminal, initialize the following
systems after the cable is reconnected.

System Name

See Page

Power Window Control System

IN-32

PS

PS2

POWER STEERING POWER STEERING SYSTEM

NOTICE:
FOR HYBRID SYSTEM ACTIVATION
When the warning light is illuminated or the
battery has been disconnected and
reconnected, pressing the power switch may
not start the system on the first try. If so,
press the power switch again.
With the power switch's power mode
changed to ON (IG), disconnect the battery. If
the key is not in the key slot during
reconnection, DTC B2799 may be output.

PS

PS3

POWER STEERING POWER STEERING SYSTEM

SYSTEM DESCRIPTION
A rack and pinion type steering gear is used on all models.
The PRIUS uses a vehicle-speed sensing type EPS
(Electric Power Steering) on all models.

Power Steering ECU

Steering Wheel
Power Steering Motor

Steering Column

Steering Gear

ECU

POWER STEERING
TORQUE FLOWCHART

Motor

Steering
Gear

Steering
Column

Steering
Wheel

G100841E03

PS

PS4

POWER STEERING POWER STEERING SYSTEM

PROBLEM SYMPTOMS TABLE

HINT:
Use the table below to help determine the cause of the
problem. The potential causes of the symptoms are listed in
order of probability in the "Suspected area" column of the
table. Check each symptom by checking the suspected areas
in the order they are listed. Replace parts as necessary.
Steering System
Symptom

Steering is heavy.

Steering effort differs between right and left or is

uneven.

While driving, steering effort does not change in

accordance with vehicle speed or steering wheel does
not return properly.

See page

1. Front tires (improperly inflated, unevenly worn)

TW-3

2. Front wheel alignment (Incorrect)

SP-2

3. Front suspension (Lower ball joint)

SP-24

4. Steering gear

PS-49

5. Torque sensor (built into steering column)

6. Steering column

SR-7

7. Power steering motor

SR-7

8. Battery and power source system

9. Power steering ECU

SR-16

1. Steering center point (zero point) (not recorded completely)

PS-13

2. Front tires (improperly inflated, unevenly worn)

TW-3

3. Front wheel alignment (Incorrect)

SP-2

4. Front suspension (Lower ball joint)

SP-23

5. Steering gear

PS-49

6. Torque sensor (built into steering column)

7. Steering column

SR-7

8. Power steering motor

SR-7

9. Power steering ECU

SR-16

1. Front suspension

SP-2

2. Speed sensor

3. Skid control ECU

BC-229

4. Combination meter

5. Engine speed detection circuit

6. Torque sensor (built into steering column)

7. Power steering motor

SR-7

8. Power steering ECU

SR-16

1. Front suspension

SP-2

2. Steering intermediate shaft

3. Steering gear

PS-49

Friction sound occurs when turning steering wheel

during low speed driving.

1. Power steering motor

SR-7

2. Steering column

SR-7

High-pitched sound (squeaking) occurs when turning

steering wheel slowly with vehicle stopped.

1. Power steering motor

SR-7

Steering wheel vibrates and noise occurs when turning

steering wheel from lock to lock.

1. Power steering motor

SR-7

2. Steering column

SR-7

Knocking (or clunking) sound occurs when turning

steering wheel back and forth while power steering is
in operation.

PS

Suspected area

POWER STEERING POWER STEERING SYSTEM

PS5

ON-VEHICLE INSPECTION
1.

CHECK STEERING EFFORT (TORQUE)

NOTICE:
Some service operations affect the SRS airbag. Be
sure to read the precautionary notice for the SRS
airbag before servicing.
(a) Stop the vehicle on a level, paved road and align the
wheels straight ahead.
(b) Disconnect the cable from the negative (-) battery
terminal.
(c) Remove the steering pad (see page RS-267).
(d) Connect the cable to the negative (-) battery
terminal.
(e) Using a torque wrench, check if the steering wheel
set nut is properly tightened.
Torque: 50 N*m (510 kgf*cm, 37 ft.*lbf)
(f) Turn the power switch ON (IG) (the engine and the
hybrid system are not operated) so that power
steering is ready to operate.
(g) Turn the steering wheel 90 degrees to the right and
check steering effort (torque) while turning. Check in
the opposite direction using the same procedure.
Steering effort (Reference):
5.5 N*m (56 kgf*cm, 49 in.*lbf)
(h) Align the front wheels straight ahead.
(i) Disconnect the cable from negative (-) battery
terminal.
(j) Install the steering pad assembly (see page RS268).
(k) Connect the cable to the negative (-) battery
terminal.
(l) Clear the DTCs (see page RS-38).
(m) Perform initialization (see page IN-32).
(n) Inspect the airbag warning light (see page RS-31).

G029440E02

2.

CHECK STEERING WHEEL FREE PLAY

(a) Turn the power switch ON (IG) so that power
steering is ready to operate.
(b) Align the wheels straight ahead.
(c) Gently turn the steering wheel right and left with
your finger and check the steering wheel free play.
Maximum free play:
30 mm (1.18 in.)
If the free play is out of specification, replace the
sliding yoke sub-assembly or steering gear
assembly with a new one.

PS

PS6

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

ELECTRONIC POWER STEERING

SYSTEM
PRECAUTION
1.

PS

FOR INITIALIZATION
NOTICE:
When disconnecting the cable from the negative (-)
battery terminal, initialize the following systems after
the cable is reconnected.

System Name

See procedure

Power Window Control System

IN-32

2. FOR HYBRID SYSTEM ACTIVATION

NOTICE:
When the warning light is illuminated or the battery
has been disconnected and reconnected, pressing the
power switch may not start the system on the first try.
If so, press the power switch again.
With the power switch's power mode changed to ON
(IG), disconnect the battery. If the key is not in the key
slot during reconnection, DTC B2799 may be output.
3. HANDLING PRECAUTIONS
(a) When handling the electronic parts:
(1) Avoid any impact to electronic parts such as
ECUs and relays. Replace the parts with new
ones if dropped or subjected to a severe impact.
(2) Do not expose any electronic parts to high
temperature and humidity.
(3) Do not touch the connector terminals in order to
prevent deformation or malfunctions due to
static electricity.
(4) When the power steering ECU has been
replaced with a new one, perform the torque
sensor zero point calibration (see page PS-13).
(b) When handling the steering column:
(1) Avoid any impact to the steering column,
especially to the motor or torque sensor.
Replace the parts with new ones if dropped or
subjected to a severe impact.
(2) Do not pull on the wire harness when moving the
steering column.
(3) When the steering column has been replaced,
perform the torque sensor zero point calibration
after initializing the torque sensor zero point
calibration signal (see page PS-13).
(c) When disconnecting and reconnecting the
connectors:
(1) When disconnecting a connector related to the
electric power steering system, turn the power
switch ON (IG), center the steering wheel, turn
the power switch OFF, and then disconnect the
connector.

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

4.

PS7

(2) When reconnecting a connector related to the

electric power steering system, ensure that the
power switch is OFF. Center the steering wheel
and then turn the power switch ON (IG).
NOTICE:
Do not turn the power switch ON (IG) when
the steering wheel is not centered.
(3) If the above operations are not carried out
properly, the steering center point (zero point)
will deviate, which may lead to a difference in
right and left steering effort. If there is a
difference in right and left steering effort, perform
the torque sensor zero point calibration (see
page PS-13).
PRECAUTIONS FOR CAN COMMUNICATION
(a) CAN communication is used to receive information
from the skid control ECU and to transmit warnings
to the meter and the multi-display. When there are
any problems in the CAN communication lines,
DTCs indicating the communication line
malfunctions are output.
(b) Perform troubleshooting for the communication line
problems when the CAN communication DTCs are
output. Be sure to start troubleshooting on the
electronic power steering system when data
communication is normal.
(c) A temporary fix or repair with bypass wiring, etc. is
impossible because the length and path of each
CAN communication line is specific.

PS

PS8

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PARTS LOCATION

STEERING COLUMN ASSEMBLY

- TORQUE SENSOR
- POWER STEERING MOTOR

ENGINE ROOM JUNCTION BLOCK

- EPS FUSE

PS

F100806E01

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS9

MULTI-DISPLAY

POWER STEERING ECU

DLC3

DRIVER SIDE JUNCTION BLOCK

- IG1 RELAY
- ECU-IG FUSE

F100807E01

PS

PS10

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

SYSTEM DIAGRAM
12 V

Power Switch

: CAN
: BEAN

Power Steering
Motor

Torque Sensor

: Input signal to power

steering ECU

: Output signal from power

steering ECU

Power Steering
ECU

DLC3

Gateway ECU

Hybrid Vehicle Control ECU

Skid Control ECU

Body ECU

: Destination signal

: ECB system trouble

signal

: Shift information signal

: Vehicle model signal

: Stop light switch signal

: Ready condition signal

: Vehicle speed signal

: Grade package
information signal

: Power use permissible signal

: EPS mass current controlling signal
: Steering angle information signal

Combination Meter
: EPS light ON
signal

PS

F100808E04

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS11

SYSTEM DESCRIPTION
1.

DESCRIPTION
(a) The electronic power steering system generates
torque through the operation of the motor and the
reduction gear installed on the column shaft in order
to assist steering effort.
Directions and amount of assisting power are
determined by signals from the torque sensor built
into the steering column assembly and by the power
steering ECU, and controlled in accordance with
vehicle speed. As a result, steering effort is
controlled to be light during low speed driving and
moderately high during high speed driving.
(1) Power steering ECU:
The power steering ECU calculates assisting
power based on a steering torque signal from
the torque sensor and a vehicle speed signal
from the skid control ECU. It generates specified
assisting torque by controlling current to the
motor.
(2) Torque sensor:
The torque sensor detects steering effort
generated when the steering wheel is turned
and converts it to an electrical signal.
(3) Power steering motor:
The power steering motor is activated by the
current from the power steering ECU and
generates torque to assist steering effort.

PS

PS12

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

HOW TO PROCEED WITH

TROUBLESHOOTING
HINT:
Use these procedures to troubleshoot the Electronic
Power Steering System (EPS).
*: Use the intelligent tester.

VEHICLE BROUGHT TO WORKSHOP

NEXT

INSPECT BATTERY VOLTAGE

Standard voltage:
11 to 14 V
If the voltage is below 11 V, recharge or replace the battery
before proceeding.

NEXT

CHECK DTC AND FREEZE FRAME DATA*

(a) Record DTCs (see page PS-23) and freeze frame data
(see page PS-23).

NEXT

PROBLEM SYMPTOM CONFIRMATION

Result
Result

Proceed to

Symptom does not occur

Symptom occurs

Go to step 6

SYMPTOM SIMULATION

NEXT

PS

CHECK CAN COMMUNICATION SYSTEM*

(a) Check for DTCs.
Result
Result

Proceed to

CAN system DTC is not output.

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

Result

Proceed to

CAN system DTC is output.

PS13

HINT:
When any CAN communication system DTCs are
output, perform troubleshooting on the CAN
communication system first (see page CA-8).
When communication to the power steering ECU is
not established through the intelligent tester, inspect
terminals SIL of the DLC3 and power steering ECU
and inspect the IG circuit of the power steering ECU.
B

PROCEED TO CAN COMMUNICATION

SYSTEM

CHECK DTC*
(a) Check for a DTCs.
Result
Result

Proceed to

DTC is not output.

DTC is output.

Go to step 11

PROBLEM SYMPTOMS TABLE

NEXT

CIRCUIT INSPECTION

NEXT

10

IDENTIFICATION OF PROBLEM

NEXT

11
NEXT

REPAIR OR REPLACE

PS

PS14

12
NEXT
END

PS

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

CONFIRMATION TEST

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS15

CALIBRATION
1.

INITIALIZATION OF TORQUE SENSOR ZERO POINT

CALIBRATION SIGNAL
NOTICE:
Under the following conditions, perform the torque
sensor zero point calibration after initializing the
torque sensor zero point calibration signal in the
ECU:
The steering column (containing the torque
sensor) has been replaced.
The power steering ECU has been replaced.
The steering wheel has been replaced.
The steering gear assembly has been replaced.
There is a difference in right and left steering
effort.
(a) Center the steering wheel and align the front wheels
straight ahead.
(b) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(c) Turn the power switch ON (IG) and then initialize the
torque sensor zero point calibration signal by
following the directions on the tester screen.
NOTICE:
Do not turn the steering wheel while initializing
the zero point calibration signal.
(d) Perform steering zero point calibration after turning
the power switch OFF.
NOTICE:
Zero point calibration cannot be carried out with
the power switch ON (IG) after initialization of
the zero point calibration signal is completed.

PS

PS16

PS

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

F100818

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS17

F100819

2.

TORQUE SENSOR ZERO POINT CALIBRATION

(a) Center the steering wheel and align the front wheels
straight ahead.
(b) Connect the intelligent tester (with CAN VIM) to the
DLC3.

PS

PS18

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

(c) Turn the power switch ON (IG) and then perform the
zero point calibration by following the directions on
the tester screen.
NOTICE:
The vehicle is stopped.
Do not start the engine. (Do not turn the
power switch ON (READY).)
Do not turn the steering wheel.
The vehicle is on level ground.
(d) Confirm that no DTCs are output after completing
the operation.
(1) When DTC C1515 is output, refer to the
following procedures (see page PS-32).
(2) When DTC C1516 is output, refer to the
following procedures (see page PS-33).
(3) When DTC C1534 is output, refer to the
following procedures (see page PS-36).

PS

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS19

F100820

PS

PS20

PS

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

F100821

PS21

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PROBLEM SYMPTOMS TABLE

HINT:
Use the table below to help determine the cause of the
problem symptom. The potential causes of the symptoms are
listed in order of probability in the "Suspected area" column of
the table. Check each symptom by checking the suspected
areas in the order they are listed. Replace parts as
necessary.
Electronic power steering system
Symptom

Steering is heavy

Steering effort differs between right and left or is

uneven

While driving, steering effort does not change in

accordance with vehicle speed or steering wheel does
not return properly

Suspected area

See page

1. Front tires (Improperly inflated, unevenly worn)

TW-3

2. Front wheel alignment (Incorrect)

SP-2

3. Front suspension (Lower ball joint)

SP-24

4. Steering gear

PS-52

5. Torque sensor (built into steering column)

PS-32

6. Steering column

SR-11

7. Power steering motor

PS-37

8. Battery and power source system

9. Power source voltage of power steering ECU

PS-44

10.Power steering ECU

SR-16

1. Steering center point (zero point) is not recorded completely

PS-13

2. Front tires (Improperly inflated, unevenly worn)

TW-3

3. Front wheel alignment (Incorrect)

SP-2

4. Front suspension (Lower ball joint)

SP-24

5. Steering gear

PS-52

6. Torque sensor (built into steering column)

PS-32

7. Steering column

SR-11

8. Power steering motor

PS-37

9. Power steering ECU

SR-16

1. Front suspension

2. Speed sensor

BC-218

3. Skid control ECU

BC-229

4. Engine speed detection circuit

5. ECM

ES-469

6. Torque sensor (built into steering column)

PS-32

7. Power steering motor

PS-37

8. Power steering ECU

SR-16

9. CAN communication system

CA-8

1. Front suspension

2. Steering intermediate shaft

3. Steering gear

PS-52

Friction sound occurs when turning steering wheel

during low speed driving

1. Power steering motor

PS-37

2. Steering column

SR-11

High-pitched sound (squeaking) occurs when turning

steering wheel slowly with vehicle stopped

Power steering motor

PS-37

Steering wheel vibrates and noise occurs when turning

steering wheel with the vehicle stopped

1. Power steering motor

PS-37

2. Steering column

SR-11

1. Power steering ECU

SR-16

2. Wire harness

PS-44

3. CAN communication system

CA-8

4. Multi-display

NS-172

Clunking sound occurs when turning steering wheel

back and forth while power steering is in operation

PS warning is always indicated on multi-display

PS

PS22

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

TERMINALS OF ECU
1.

CHECK POWER STEERING ECU

P8

P7

P10

P9
F044303E04

(a) Measure the voltage and resistance of the

connectors.
Symbols (Terminal No.)

Wiring Color

Terminal Description

Condition

Specified Condition

PIG (P7-1) - PGND (P7-2)

W - W-B

Power source

Always

10 to 16 V

PGND (P7-2) - Body

ground

W-B - Body ground

Power ground

Always

Below 1

M1 (P9-1) - PGND (P7-2)

R - W-B

Power steering motor

signal

With power switch ON

(IG), turn the steering
wheel to left

Below 1 V

With power switch ON

(IG), turn the steering
wheel to right

10 to 16 V

With power switch ON

(IG), turn the steering
wheel to left

10 to 16 V

With power switch ON

(IG), turn the steering
wheel to right

Below 1 V

M2 (P9-2) - PGND (P7-2)

PS

B - W-B

Power steering motor

signal

CANH (P8-1) - CANL (P87)

B-W

CAN communication line

Power switch is OFF

54 to 69

SIL (P8-2) - PGND (P7-2)

W - W-B

Diagnosis communication
signal

Communication is
established by connecting
the intelligent tester (with
CAN VIM) to the DLC3

Pulse generation (see

waveform 1)

IG (P8-6) - PGND (P7-2)

B - W-B

IG power source

Power switch is ON (IG)

10 to 16 V

TRQ1 (P10-5) - PGND

(P7-2)

B - W-B

Torque sensor signal

With power switch ON

(IG), turn the steering
wheel to left and right

0.3 to 4.7 V

TRQV (P10-6) - PGND

(P7-2)

Y - W-B

Torque sensor voltage

source

Power switch ON (IG)

7.5 to 8.5 V

TRQ2 (P10-7) - PGND

(P7-2)

R - W-B

Torque sensor signal

With power switch ON

(IG), turn the steering
wheel to left and right

0.3 to 4.7 V

TRQG (P10-8) - PGND

(P7-2)

W - W-B

Torque sensor ground

Always

Below 1

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS23

(b) Using an oscilloscope, check waveform 1.

Waveform 1 (Reference)
Waveform 1

Terminal

SIL - Body ground

Tool setting

5 V/DIV, 1 ms/DIV

Condition

Communication is established by
connecting the intelligent tester (with
CAN VIM) to the DLC3

HINT:
If the result is not as specified, the ECU may have a
malfunction.

C081996E05

DIAGNOSIS SYSTEM
1.
CG

SG

CANH

SIL

CHECK DLC3
The vehicle's ECU uses the ISO 15765-4 communication
protocol. The terminal arrangement of the DLC3
complies with ISO 15031-03 and matches the ISO
15765-4 format.

1 2 3 4 5 6 7 8
9 10 11 12 13 14 15 16
CANL

BAT

B126621E01

Symbols (Terminal No.)

Terminal Description

Condition

Specified Condition

SIL (7) - SG (5)

Bus "+" line

During transmission

Pulse generation

CG (4) - Body ground Chassis

ground

Chassis ground

Always

Below 1

SG (5) - Body ground Signal

ground

Signal ground

Always

Below 1

BAT (16) - Body ground

Battery positive

Always

11 to 14 V

CANH (6) - CANL (14)

HIGH-level CAN bus line

Power switch is OFF*

54 to 69

CANH (6) - Battery positive

HIGH-level CAN bus line

Power switch is OFF*

1 M or higher

CANH (6) - CG (4)

HIGH-level CAN bus line

Power switch is OFF*

1 k or higher

CANL (14) - Battery position

LOW-level CAN bus line

Power switch is OFF*

1 M or higher

CANL (14) - CG (4)

LOW-level CAN bus line

Power switch is OFF*

1 k or higher

NOTICE:
*: Before measuring the resistance, leave the vehicle
as is for at least 1 minute and do not operate the
ignition switch, other switches or the doors.
If the result is not as specified, the DLC3 may have a
malfunction. Repair or replace the harness and
connector.

PS

PS24

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

Intelligent Tester

DLC3
CAN VIM

2.
B126098E01

DTC CHECK / CLEAR

Intelligent Tester

1.

2.

DLC3
CAN VIM
B126098E01

PS

HINT:
Connect the cable of the intelligent tester (with CAN
VIM) to the DLC3, turn the power switch ON (IG) and
attempt to use the tester. If the display indicates that a
communication error has occurred, there is a problem
either with the vehicle or with the tester.
If communication is normal when the tester is
connected to another vehicle, inspect the DLC3 on
the original vehicle.
If communication is still not possible when the tester
is connected to another vehicle, the problem may be
in the tester itself. Consult the Service Department
listed in the tester's instruction
WARNING LIGHT
(a) When a problem occurs in the electric power
steering system, the PS warning is indicated on the
multi-display and the master warning light on the
combination meter comes on to inform the driver of
the problem.
CHECK DTC
(a) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(b) Turn the power switch ON (IG).
(c) Read the DTCs by following the display on the
intelligent tester.
HINT:
Refer to the intelligent tester operator's manual for
further details.
CLEAR DTC
(a) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(b) Turn the power switch ON (IG).
(c) Clear the DTCs by following the display on the
intelligent tester.
HINT:
Refer to the intelligent tester operator's manual for
further details.

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS25

FREEZE FRAME DATA

NOTICE:
It is difficult to show the specified values (judgment
values) clearly because freeze frame data values
significantly change due to differences in
measurement conditions, surroundings or vehicle
conditions. Because of this reason, there may be a
problem even when the values are within
specifications.
Turn the power switch ON (IG) and park the vehicle on
level ground to check the freeze frame data using the
intelligent tester.
1. Connect the intelligent tester (with CAN VIM) to the DLC3.
2. Turn the power switch ON (IG) and check the freeze frame
data by following the prompts on the display of the
intelligent tester.
Power steering ECU
Item

Item Description / Range

(Display)

Inspection Condition

Reference Value

TRQ1

Torque sensor 1 output value /

min.: 0 V, max.: 5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

Turning steering wheel to right

with vehicle stopped

2.5 to 4.7 V

Turning steering wheel to left with

vehicle stopped

0.3 to 2.5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

Turning steering wheel to right

with vehicle stopped

2.5 to 4.7 V

Turning steering wheel to left with

vehicle stopped

0.3 to 2.5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

Turning steering wheel to right

with vehicle stopped

2.5 to 4.7 V

Turning steering wheel to left with

vehicle stopped

0.3 to 2.5 V

Vehicle speed from meter / min.:

0 km/h, max.: 255 km/h

Vehicle is stopped

0 km/h

Vehicle is driven at a constant

speed

No significant fluctuation

MOTOR ACTUAL

Amount of current to motor / min.:

-128 A, max.: 127 A

COMMAND VALUE

Demanded amount of current to

motor / min.: -128 A, max.: 127 A

THERMISTOR TEMP

ECU substrate temperature /

min.: -50C, max.: 205C

Power switch is ON (IG)

PIG SUPPLY

Power source voltage to activate

motor / min.: 0 V, max.: 25.5 V

Power steering is in operation

10 to 16 V

IG SUPPLY

ECU power source voltage / min.:

0 V, max.: 25.5 V

10 to 16 V

TRQ1 ZERO VAL

Zero point value of torque sensor

1 / min.: 0 V, max.: 5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

TRQ2 ZERO VAL

Zero point value of torque sensor

2 / min.: 0 V, max.: 5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

TRQ3 ZERO VAL

Zero point value of torque sensor

for assist control / min.: 0 V, max.:
5V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

TRQ2

TRQ3

SPD

Torque sensor 2 output value /

min.: 0 V, max.: 5 V

Torque value for assist control /

min.: 0 V, max.: 5 V

PS

PS26
Item

Item Description / Range

(Display)

Inspection Condition

MTR TERMINAL (+)

Motor terminal M1 voltage / min.:

0 V, max.: 25.5 V

Turning steering wheel to right

10 to 16 V

Turning steering wheel to left

Below 1 V

Motor terminal M2 voltage / min.:

0 V, max.: 25.5 V

Turning steering wheel to right

Below 1 V

Turning steering wheel to left

10 to 16 V

# CODES

Number of detected DTCs when

freeze frame data is stored / min.:
0 times, max.: 255 times

READY STATUS

HV system "READY" / OFF/ON

HV system "READY"

ON

HV system not "READY"

OFF

MTR TERMINAL (-)

PS

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

Reference Value

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS27

FAIL-SAFE CHART
When a problem occurs in the electronic motor power
steering system, the P/S warning is indicated on the multidisplay, the master warning light on the combination meter
comes on, and steering power assist is stopped, fixed at a
particular point, or decreased simultaneously to protect the
system.
Electronic power steering system
DTC No.

Malfunction

Fail-safe

C1511
C1512
C1513
C1514
C1517

Torque sensor malfunction

Power assist stops.

C1524

Motor malfunction

Power assist stops.

C1531
C1532

Power steering ECU malfunction

Power assist stops.

C1533

Temperature sensor malfunction in power

steering ECU

Amount of power assist is limited.

C1551

IG power source voltage error

Power assist stops.

C1552

PIG power source voltage error

Power assist stops.

C1554

Power source relay malfunction

Power assist stops.

C1555

Motor relay malfunction

Power assist stops.

U0073

CAN bus malfunction

Amount of power assist is fixed for a speed of

43 mph (70 km/h).

U0121

Skid control ECU communication error

Amount of power assist is fixed for a speed of

43 mph (70 km/h).

Extremely high temperature in ECU

Amount of power assist is limited until ECU

temperature goes down.

Power source voltage drop

Power assist is interrupted, but normal power

assist is resumed when voltage returns.

HINT:
Amount of power assist may be decreased to prevent the
motor and ECUs from overheating if the steering wheel is
continuously turned when the vehicle is either stopped or
driven at a low speed, or if the steering wheel is kept at either
full lock position for a long time. In that case, the amount of
power assist returns to normal if the steering wheel is not
turned for approximately 10 minutes with the engine idling.

PS

PS28

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DATA LIST / ACTIVE TEST

1.

READ DATA LIST

HINT:
Using the intelligent tester's DATA LIST allows switch,
sensor, actuator and other item values to be read without
removing any parts. Reading the DATA LIST early in
troubleshooting is one way to save time.
(a) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(b) Turn the power switch ON (IG) and press the
intelligent tester main switch on.
(c) Read the DATA LIST by following the directions on
the tester screen.

Power steering ECU

Item

Item Description / Range

(Display)

Inspection Condition

Reference Value

TRQ1

Torque sensor 1 output value /

min.: 0 V, max.: 5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

Turning steering wheel to right

with vehicle stopped

2.5 to 4.7 V

Turning steering wheel to left with

vehicle stopped

0.3 to 2.5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

Turning steering wheel to right

with vehicle stopped

2.5 to 4.7 V

Turning steering wheel to left with

vehicle stopped

0.3 to 2.5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

Turning steering wheel to right

with vehicle stopped

2.5 to 4.7 V

Turning steering wheel to left with

vehicle stopped

0.3 to 2.5 V

Vehicle speed from meter / min.:

0 km/h, max.: 255 km/h

Vehicle is stopped

0 km/h

Vehicle is driven at a constant

speed

No significant fluctuation

MOTOR ACTUAL

Amount of current to motor / min.:

-128 A, max.: 127 A

COMMAND VALUE

Demanded amount of current to

motor / min.: -128 A, max.: 127 A

THERMISTOR TEMP

ECU substrate temperature /

min.: -50C, max.: 205C

Power switch is ON (IG)

PIG SUPPLY

Power source voltage to activate

motor / min.: 0 V, max.: 25.5 V

Power steering is in operation

10 to 16 V

IG SUPPLY

ECU power source voltage / min.:

0 V, max.: 25.5 V

10 to 16 V

TRQ1 ZERO VAL

Zero point value of torque sensor

1 / min.: 0 V, max.: 5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

TRQ2 ZERO VAL

Zero point value of torque sensor

2 / min.: 0 V, max.: 5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

TRQ3 ZERO VAL

Zero point value of torque sensor

for assist control / min.: 0 V, max.:
5V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

MTR TERMINAL (+)

Motor terminal M1 voltage / min.:

0 V, max.: 25.5 V

Turning steering wheel to right

10 to 16 V

Turning steering wheel to left

Below 1 V

TRQ2

TRQ3

SPD

PS

Torque sensor 2 output value /

min.: 0 V, max.: 5 V

Torque value for assist control /

min.: 0 V, max.: 5 V

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

Item

Item Description / Range

(Display)

Inspection Condition

Reference Value

MTR TERMINAL (-)

Motor terminal M2 voltage / min.:

0 V, max.: 25.5 V

Turning steering wheel to right

Below 1 V

Turning steering wheel to left

10 to 16 V

MTR OVERHEAT

Continuous overheat prevention

control record / REC/UNREC

MTR LOW POWER

PIG power source voltage drop

record / REC/UNREC

CONTROL MODE

Codes indicating DTC detection

timing during ECU control are
displayed in hexadecimal

IG ON/OFF TIMES

Number of times power switch is

turned on (IG) after DTC
detection / min.: 0 times, max.:
255 times

# CODES

Number of detected DTCs when

freeze frame data is stored / min.:
0 max.: 255

ASSIST MAP

Selected assist map

ECU I.D.

ECU identification information

TEST MODE STAT

Selected mode / NORMAL

MODE/TEST MODE

READY STATUS

HV system "READY" / OFF/ON

HV system "READY"

ON

HV system not "READY"

OFF

PS29

PS

PS30

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DIAGNOSTIC TROUBLE CODE CHART

HINT:
If a trouble code is displayed during the DTC check, inspect
the circuit listed for that code. For details of each code, refer
to the "See page" for the respective "DTC No." in the DTC
chart.
Electronic power steering system

PS

DTC No.

Detection Item

Trouble Area

See page

C1511

Torque Sensor Circuit Malfunction

- Steering column (torque sensor)

- Power steering ECU

PS-29

C1512

Torque Sensor Circuit Malfunction

- Steering column (torque sensor)

- Power steering ECU

PS-29

C1513

Torque Sensor Circuit Malfunction

- Steering column (torque sensor)

- Power steering ECU

PS-29

C1514

Torque Sensor Power Supply

Abnormal

- Steering column (torque sensor)

- Power steering ECU

PS-29

C1515

Torque Sensor Zero Point

Adjustment Undone

- Torque sensor zero point

calibration
- Steering column

PS-32

C1516

Torque Sensor Zero Point

Adjustment Incomplete

- Torque sensor zero point

calibration failure
- Steering column

PS-33

C1517

Torque Hold Abnormal

- Steering column (torque sensor)

- Power steering ECU

PS-29

C1524

Motor Circuit Malfunction

- Steering column (power steering

motor)
- Power steering ECU

PS-34

C1531

ECU Malfunction

- Power steering ECU

PS-36

C1532

ECU Malfunction

- Power steering ECU

PS-36

C1533

ECU Malfunction

- Power steering ECU

PS-36

C1534

ECU Malfunction

- Power steering ECU

PS-36

C1551

IG Power Supply Voltage

Malfunction

- ECU-IG fuse
- IG power source circuit
- Power steering ECU

PS-37

C1552

PIG Power Supply Voltage

Malfunction

- EPS fuse
- PIG power source circuit
- Power steering ECU

PS-39

C1554

Power Supply Relay Failure

- EPS fuse
- PIG power source circuit
- Power steering ECU

PS-39

C1555

Motor Relay Welding Failure

- EPS fuse
- PIG power source circuit
- Power steering ECU

PS-39

C1581

Assist Map Number Un-Writing

- Power steering ECU

PS-41

U0073

Control Module Communication

Bus OFF

- CAN communication system

PS-42

U0121

Lost Communication with Antilock Brake System (ABS) Control

Module

- CAN communication system

- Skid control ECU

PS-42

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DTC

C1511

Torque Sensor Circuit Malfunction

DTC

C1512

Torque Sensor Circuit Malfunction

DTC

C1513

Torque Sensor Circuit Malfunction

DTC

C1514

Torque Sensor Power Supply Abnormal

DTC

C1517

Torque Hold Abnormal

PS31

DESCRIPTION
The torque sensor converts rotation torque input to the steering wheel into an electrical signal and sends
it to the ECU. Based on this signal, the ECU detects steering effort.
DTC No.

DTC Detection Condition

Trouble Area

C1511

Torque sensor (TRQ1) signal error or stop

Torque sensor (built into steering column)

Power steering ECU

C1512

Torque sensor (TRQ2) signal error or stop

Torque sensor (built into steering column)

Power steering ECU

C1513

Deviation between torque sensors (TRQ1 and

TRQ2) is out of specification

Torque sensor (built into steering column)

Power steering ECU

C1514

Torque sensor power source voltage error

Torque sensor (built into steering column)

Power steering ECU

C1517

Temporary control due to malfunction related

to torque sensor continues for a long time

Torque sensor (built into steering column)

Power steering ECU

WIRING DIAGRAM

Torque Sensor

Power Steering ECU

TRQV

TRQ1

TRQ2

TRQG

F100805E02

PS

PS32

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

INSPECTION PROCEDURE

READ VALUE OF INTELLIGENT TESTER (TORQUE SENSOR)

(a) Connect the intelligent tester (with CAN VIM) to the
DLC3.
(b) Turn the power switch ON (IG), and turn the intelligent
tester main switch on.
(c) Select the items "TRQ1" and "TRQ2" in the DATA LIST.

Power Steering ECU

Item

Item Description / Range

(Display)

Inspection Condition

Reference Value

TRQ1

Torque sensor 1 output value /

min.: 0 V, max.: 5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

Turning steering wheel to right

with vehicle stopped

2.5 to 4.7 V

Turning steering wheel to left with

vehicle stopped

0.3 to 2.5 V

Steering wheel is not turned

(without load)

2.3 to 2.7 V

Turning steering wheel to right

with vehicle stopped

2.5 to 4.7 V

Turning steering wheel to left with

vehicle stopped

0.3 to 2.5 V

TRQ2

Torque sensor 2 output value /

min.: 0 V, max.: 5 V

(d) Read the values of "TRQ1" and "TRQ2" on the tester

display when the steering wheel is centered (without
load).
Standard voltage:
2.3 to 2.7 V
(e) Check the difference in the values of "TRQ1" and
"TRQ2" when the steering wheel is centered (without
load).
Standard voltage:
0.3 V or less
(f) Read the value of the torque sensor on the tester display
when the steering wheel is turned.
(1) Turn the steering wheel from its center position to
the right full lock position and read the values of
"TRQ1" and "TRQ2" on the tester display.
Standard voltage:
2.5 to 4.7 V
(2) Turn the steering wheel from its center position to
the left full lock position and read the values of
"TRQ1" and "TRQ2" on the tester display.
Standard voltage:
0.3 to 2.5 V
(3) Check the difference in the values of "TRQ1" and
"TRQ2".
Standard voltage:
0.3 V or less

PS

OK
NG

REPLACE POWER STEERING ECU

PS33

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

CHECK STEERING COLUMN ASSEMBLY (TORQUE SENSOR)

(a) Measure the voltage of the ECU.
Standard voltage

P10

Tester Connection

Condition

Specified Condition

P10-6 (TRQV) - P10-8

(TRQG)

Power switch is ON (IG)

7.5 to 8.5 V

OK

REPLACE POWER STEERING ECU

6 (TRQV)
8 (TRQG)
)

F100822E04

NG

CHECK POWER STEERING ECU

(a) Measure the voltage of the ECU.
Standard voltage

P10

5 (TRQ1)
7 (TRQ2)
8 (TRQG)
)

F100822E05

Tester Connection

Condition

Specified Condition

P10-5 (TRQ1) - P10-8

(TRQG)

Power switch is ON (IG)

Steering wheel center
position

2.3 to 2.7

P10-7 (TRQ2) - P10-8

(TRQG)

Power switch is ON (IG)

Steering wheel center
position

2.3 to 2.7

P10-5 (TRQ1) - P10-8

(TRQG)

Power switch is ON (IG)

Steering wheel turned
to right

2.5 to 4.7

P10-7 (TRQ2) - P10-8

(TRQG)

Power switch is ON (IG)

Steering wheel turned
to right

2.5 to 4.7

P10-5 (TRQ1) - P10-8

(TRQG)

Power switch is ON (IG)

Steering wheel turned
to left

0.3 to 2.5 V

P10-7 (TRQ2) - P10-8

(TRQG)

Power switch is ON (IG)

Steering wheel turned
to left

0.3 to 2.5 V

OK

REPLACE STEERING COLUMN ASSEMBLY

NG
REPLACE POWER STEERING ECU

PS

PS34

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DTC

C1515

Torque Sensor Zero Point Adjustment Undone

DESCRIPTION
This DTC does not indicate a malfunction. The power steering ECU outputs this DTC when it determines
that the torque sensor zero point calibration has not been performed.
DTC No.

DTC Detection Condition

Trouble Area

C1515

This DTC is detected when torque sensor

zero point calibration has not been performed.

Torque sensor zero point calibration

(There is no malfunction if this DTC is not
output again after performing zero point
calibration.)
Steering column

INSPECTION PROCEDURE

CLEAR DTC
(a) Clear the DTC (see page PS-23).

NEXT

PERFORM ZERO POINT CALIBRATION OF TORQUE SENSOR

(a) Perform the torque sensor zero point calibration (see
page PS-13).

NEXT

RECONFIRM DTC
(a) Check for DTCs (see page PS-23).
Result
Result

Proceed to

DTCs are still output even after

performing torque sensor zero point
calibration 3 times.

DTCs are still output even after

performing torque sensor zero point
calibration once or twice.

Normal system code is output.

HINT:
Replace the steering column assembly if DTCs are still
output even after performing the torque sensor zero
point calibration 3 times.
B
C

PS

A
REPLACE STEERING COLUMN ASSEMBLY

Go to step 2
END

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DTC

C1516

PS35

Torque Sensor Zero Point Adjustment Incomplete

DESCRIPTION
This DTC does not indicate a malfunction. The power steering ECU outputs this DTC when it determines
that the torque sensor zero point calibration has not been completed normally.
DTC No.

DTC Detection Condition

Procedure

C1516

Torque sensor zero point calibration has not

been completed normally due to touching the
steering wheel during calibration.

There is no malfunction if this DTC is not

output again after clearing the DTCs,
initializing the zero point calibration signal,
and performing zero point calibration.

INSPECTION PROCEDURE

CLEAR DTC
(a) Clear the DTC (see page PS-23).

NEXT

PERFORM ZERO POINT CALIBRATION OF TORQUE SENSOR

(a) Perform the torque sensor zero point calibration (see
page PS-13).

NEXT

RECONFIRM DTC
(a) Check for DTCs.
Result
Result

Proceed to

DTCs are still output even after

performing torque sensor zero point
calibration 3 times.

DTCs are still output even after

performing torque sensor zero point
calibration once or twice.

Normal system code is output.

HINT:
Replace the steering column assembly if DTCs are still
output even after performing the torque sensor zero
point calibration 3 times.
B
C
A
REPLACE STEERING COLUMN ASSEMBLY

Go to step 2
END

PS

PS36

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DTC

C1524

Motor Circuit Malfunction

DESCRIPTION
The power steering ECU supplies current to the power steering motor through this circuit.
DTC No.

DTC Detection Condition

Trouble Area

C1524

Voltage error between motor terminals

Steering column (power steering motor)

Power steering ECU

WIRING DIAGRAM

Power Steering Motor

Power Steering ECU

M1

M2

F100804E04

INSPECTION PROCEDURE

CHECK POWER STEERING ECU

(a) Turn the power switch ON (IG).
(b) Measure the voltage of the ECU.
Standard voltage
P7

PS
7 (PGND)

1 (M1)

P9

Tester Connection

Condition

Specified Condition

P9-1 (M1) - P7-2 (PGND)

The steering wheel is

turned to the left.

Below 1 V

P9-1 (M1) - P7-2 (PGND)

The steering wheel is

turned to the right.

10 to 16 V

P9-2 (M2) - P7-2 (PGND)

The steering wheel is

turned to the left.

10 to 16 V

P9-2 (M2) - P7-2 (PGND)

The steering wheel is

turned to the right.

Below 1 V

2 (M2)

NG
)

F100822E06

REPLACE POWER STEERING ECU

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS37

OK

CHECK POWER STEERING MOTOR

(a) Turn the power switch OFF.
(b) Disconnect the P9 power steering ECU connector.
(c) Measure the resistance of the wire harness side
connector.
Standard resistance

Wire Harness Side

P9
M1

M2

Tester Connection

Specified Condition

P9-1 (M1) - P9-2 (M2)

0.04 to 0.1

P9-1 (M1) - Body ground

10 k or higher

P9-2 (M2) - Body ground

10 k or higher

F046435E06

NG

REPLACE STEERING COLUMN ASSEMBLY

OK
REPLACE POWER STEERING ECU

PS

PS38

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DTC

C1531

ECU Malfunction

DTC

C1532

ECU Malfunction

DTC

C1533

ECU Malfunction

DTC

C1534

ECU Malfunction

DESCRIPTION
Fail-safe function operates to stop power assist while DTCs indicating ECU malfunctions are output.
However, power assist continues when DTC C1534 is output because it indicates an EEPROM error in
the ECU.
DTC No.

DTC Detection Condition

Trouble Area

C1531

ECU internal malfunction (CPU malfunction)

is detected.

Power steering ECU

C1532

ECU internal malfunction (Peripheral circuit

malfunction) is detected.

Power steering ECU

C1533

ECU internal malfunction (Substrate temp.

sensor malfunction) is detected.

Power steering ECU

C1534

ECU internal malfunction (EEPROM error) is

detected.

Power steering ECU

INSPECTION PROCEDURE

RECONFIRM DTC
(a) Check for DTCs.
OK:
DTCs other than C1531, C1532, C1533 and C1534
are not output.
NG

OK
REPLACE POWER STEERING ECU

PS

REPAIR CIRCUIT INDICATED BY OUTPUT

CODE

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DTC

C1551

PS39

IG Power Supply Voltage Malfunction

DESCRIPTION
The power steering ECU distinguishes on / off status of the power switch through this circuit.
DTC No.

DTC Detection Condition

Trouble Area

C1551

There is an open or short in the IG power

source circuit with the power switch ON (IG).

ECU-IG fuse
IG power source circuit
Power steering ECU

WIRING DIAGRAM

Power Steering ECU

IG1
ECU-IG
IG

Power Source Control ECU

IGID
PGND
DC/DC

MAIN

F100803E04

INSPECTION PROCEDURE

INSPECT FUSE (ECU-IG)

(a) Remove the ECU-IG fuse from the driver side junction
block.
(b) Measure the resistance of the fuse.

PS

PS40

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

Standard resistance:
Below 1
NG

INSPECT FOR SHORT IN ALL

COMPONENTS CONNECTED TO FUSE AND
REPAIR OR REPLACE THEM IF NEEDED,
AND REPLACE FUSE

OK

CHECK WIRE HARNESS (POWER STEERING ECU - BODY GROUND)

(a) Disconnect the P8 power steering ECU connector.
(b) Turn the power switch ON (IG).
(c) Measure the voltage of the wire harness side connector.
Standard voltage

Wire Harness Side

6 (IG)

Tester Connection

Condition

Specified Condition

P8-6 (IG) - Body ground

Power switch is ON (IG)

10 to 16 V

P8

NG
F046437E04

REPAIR OR REPLACE HARNESS AND

CONNECTOR

OK

CHECK WIRE HARNESS (POWER STEERING ECU - BODY GROUND)

(a) Turn the power switch OFF.
(b) Disconnect the P7 power steering ECU connector.
(c) Measure the resistance of the wire harness side
connector.
Standard resistance

Wire
Harness
Side

P7

Tester Connection

Specified Condition

P7-2 (PGND) - Body ground

Below 1

7 (PGND)
F046438E11

OK
REPLACE POWER STEERING ECU

PS

NG

REPAIR OR REPLACE HARNESS AND

CONNECTOR

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DTC

C1552

PIG Power Supply Voltage Malfunction

DTC

C1554

Power Supply Relay Failure

DTC

C1555

Motor Relay Welding Failure

PS41

DESCRIPTION
When a problem occurs in the system, the power source relay (built into the power steering ECU) circuit
and the motor relay (built into the power steering ECU) circuit are shut off to stop power assist. It is
necessary to replace the ECU when there is a problem in the relay because each relay is built into the
ECU.
DTC No.

DTC Detection Condition

Trouble Area

C1552

PIG power source voltage error

EPS H-fuse
PIG power source circuit
Power steering ECU

C1554

Power source relay malfunction

EPS H-fuse
PIG power source circuit
Power steering ECU

C1555

Motor relay malfunction

EPS Fuse
PIG power source circuit
Power steering ECU

WIRING DIAGRAM

Power Steering ECU

DC/DC

EPS
PIG

MAIN

PGND

F100802E01

INSPECTION PROCEDURE

PS
1

INSPECT FUSE (EPS)

(a) Remove the EPS H-fuse from the engine room junction
block.

PS42

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

(b) Measure the resistance of the fuse.

Standard resistance:
Below 1
NG

INSPECT FOR SHORT IN ALL

COMPONENTS CONNECTED TO FUSE AND
REPAIR OR REPLACE THEM IF NEEDED,
AND REPLACE FUSE

OK

CHECK WIRE HARNESS (POWER STEERING ECU - BODY GROUND)

(a) Disconnect the P7 power steering ECU connector.
(b) Measure the voltage of the wire harness side connector.
Standard voltage

Wire
Harness
Side

P7

Tester Connection

Specified Condition

P7-1 (PIG) - Body ground

10 to 16 V

NG

1 (PIG)

REPAIR OR REPLACE HARNESS AND

CONNECTOR

F046438E12

OK

CHECK WIRE HARNESS (POWER STEERING ECU - BODY GROUND)

(a) Disconnect the P7 power steering ECU connector.
(b) Measure the resistance of the wire harness side
connector.
Standard resistance

Wire
harness
Side

Tester Connection

Specified Condition

P7-2 (PGND) - Body ground

Below 1

P7

NG

2 (PGND)
F046438E06

OK
REPLACE POWER STEERING ECU

PS

REPAIR OR REPLACE HARNESS AND

CONNECTOR

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DTC

C1581

PS43

Assist Map Number Un-Writing

DESCRIPTION
The power steering ECU outputs this DTC when it determines that assist map is not written in the ECU. It
is necessary to replace the power steering ECU when this code is output because this malfunction cannot
be repaired.
HINT:
The assist map is data written in the power steering ECU to control assisting power. The assist map is
selected from four types based on the vehicle specification communication data (designation and grade
package information).
DTC No.

DTC Detection Condition

Trouble Area

C1581

Assist map is not written in the power steering

ECU.

Power steering ECU

INSPECTION PROCEDURE

RECONFIRM DTC
(a) Check for DTCs.
OK:
DTCs other than C1581 are not output.
NG

REPAIR CIRCUIT INDICATED BY OUTPUT

CODE

OK
REPLACE POWER STEERING ECU

PS

PS44

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

DTC

U0073

Control Module Communication Bus OFF

DTC

U0121

Lost Communication with Anti-lock Brake System (ABS) Control Module

DESCRIPTION
The power steering ECU receives signals from the skid control ECU (ECB ECU) via CAN communication.
DTC No.

DTC Detection Condition

Trouble Area

U0073

CAN communication error (CAN bus is off)

CAN communication system

U0121

Skid control ECU communication error

CAN communication system

Skid control ECU (when only U0121 is
output)

HINT:
When 2 or more DTCs starting with [U] are output simultaneously, inspect the connectors and wire
harness of each ECU.

WIRING DIAGRAM

Junction Connector

Power Steering ECU

CANH

CANL

Skid Control ECU

CANH

CANL

PS

F100827E03

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS45

INSPECTION PROCEDURE

CHECK DTC
(a) Using the intelligent tester (with CAN VIM), check for
DTCs.
OK:
DTC is not output.
OK

PROCEED TO NEXT CIRCUIT INSPECTION

SHOWN IN PROBLEM SYMPTOMS TABLE

NG
GO TO CAN COMMUNICATION SYSTEM TROUBLESHOOTING

PS

PS46

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS Warning is Always Shown on Multi-Display

DESCRIPTION
The troubleshooting procedure for a situation when no DTCs are output but a PS warning is always
indicated is specified here. The PS warning remains on when there is an open in the IG circuit that inputs
power source voltage to the power steering ECU.

PS

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

PS47

WIRING DIAGRAM

Gateway ECU

Power Steering ECU

CA1L

CANL

CA1H

CANH
Multi-display

GTX-

TX1-

GTX+

TX1+

IG

ECU-IG
PGND

IG1

from Power Source Control ECU

DC/DC

MAIN

F100925E01

PS

PS48

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

INSPECTION PROCEDURE

CHECK CONNECTOR CONNECTION CONDITION

(a) Check the indication condition of the PS warning while
wiggling the power steering ECU connector and wire
harness up and down, and right and left.
OK:
Warning indication does not change.
NG

REPAIR OR REPLACE HARNESS AND

CONNECTOR

OK

INSPECT CAN COMMUNICATION SYSTEM

(a) Using the intelligent tester (with CAN VIM), check for
DTCs and confirm that there are no problems in the CAN
communication system.
OK:
DTCs are not output.
NG

GO TO CAN COMMUNICATION SYSTEM

OK

INSPECT MULTIPLEX COMMUNICATION SYSTEM (BEAN)

(a) Using the intelligent tester (with CAN VIM), check for
DTCs and confirm that there are no problems in the
multiplex communication system (BEAN).
OK:
DTCs are not output.
NG

GO TO MULTIPLEX COMMUNICATION
SYSTEM

OK

CHECK WIRE HARNESS (POWER STEERING ECU - BATTERY)

(a) Disconnect the P7 and P8 power steering ECU
connectors.
(b) Turn the power switch ON (IG).
(c) Measure the voltage of the wire harness side
connectors.
Standard voltage

Wire
Harness
Side

PS

P7
2 (PGND)

P8
6 (IG)

F046436E03

Tester Connection

Condition

Specified Condition

P8-6 (IG) - P7-2 (PGND)

Power switch ON (IG)

10 to 16 V

POWER STEERING ELECTRONIC POWER STEERING SYSTEM

NG

PS49

REPAIR OR REPLACE HARNESS AND

CONNECTOR

OK

REPLACE POWER STEERING ECU

NEXT

CHECK PS WARNING ON MULTI-DISPLAY

(a) Check for the PS warning indication on the multi-display.
OK:
PS warning is not indicated.
OK

END

NG
REPLACE MULTI-DISPLAY

PS

PS48

POWER STEERING STEERING GEAR

STEERING GEAR
POWER STEERING
STEERING

COMPONENTS

FRONT NO. 1 STABILIZER

BRACKET RH
19 (194, 14)

FRONT STABILIZER
LINK ASSEMBLY RH

19 (194, 14)

FRONT NO. 1 STABILIZER

BRACKET LH
FRONT NO. 1
STABILIZER BAR
FRONT STABILIZER
LINK ASSEMBLY LH

74 (755, 55)
74 (755, 55)

FRONT STABILIZER BAR

74 (755, 55)
74 (755, 55)

PS

N*m (kgf*cm, ft.*lbf) : Specified torque

G100840E03

PS49

POWER STEERING STEERING GEAR

COLUMN HOLE COVER

SILENCER SHEET

STEERING SLIDING YOKE SUB-ASSEMBLY

STEERING INTERMEDIATE SHAFT

CLIP

35 (360, 26)

NO. 1 STEERING COLUMN

HOLE COVER SUB-ASSEMBLY

CLIP

83 (846, 61)
*60 (612, 44)

58 (591, 43)

STEERING RACK END

SUB-ASSEMBLY

49 (500, 36)

NO. 1 TIE ROD END

SUB-ASSEMBLY
NO. 2 STEERING RACK
BOOT CLAMP
STEERING RACK BOOT CLIP
NO. 2 STEERING RACK
BOOT
74 (749, 54)

NO. 1 STEERING RACK

BOOT

*For use with SST

Non-reusable part

CLIP
83 (846, 61)
*60 (612, 44)

49 (500, 36)

STEERING RACK END SUB-ASSEMBLY

NO. 1 STEERING RACK BOOT CLAMP

N*m (kgf*cm, ft.*lbf) : Specified torque

STEERING RACK BOOT CLIP
Molybdenum disulfide lithium base grease
Silicon grease

74 (749, 54)

NO. 2 TIE ROD END SUB-ASSEMBLY

G100839E04

PS

PS50

POWER STEERING STEERING GEAR

REMOVAL
1.

PLACE FRONT WHEELS FACING STRAIGHT AHEAD

2.

DISCONNECT CABLE FROM NEGATIVE BATTERY

TERMINAL
CAUTION:
Wait at least 90 seconds after disconnecting the
cable from the negative (-) battery terminal to
prevent airbag and seat belt pretensioner activation.

3.

REMOVE COLUMN HOLE COVER SILENCER SHEET

(See page SR-10)

4.

SEPARATE STEERING SLIDING YOKE SUBASSEMBLY

(a) Fix the steering wheel with the seat belt in order to
prevent rotation and damage to the spiral cable.

G029446E06

(b) Put matchmarks in the sliding yoke and

intermediate shaft.
(c) Loosen the bolt labeled A and remove the bolt
labeled B to separate the sliding yoke.

Matchmark

Bolt A

Bolt B
G029896E03

5.

DISCONNECT NO. 1 STEERING COLUMN HOLE

COVER SUB-ASSEMBLY
(a) Remove the clip labeled A and disconnect the hole
cover from the body.
NOTICE:
Do not damage the clip labeled B.

6.

REMOVE FRONT WHEELS

7.

DISCONNECT NO. 2 TIE ROD END SUB-ASSEMBLY

(See page DS-6)

8.

DISCONNECT NO. 1 TIE ROD END SUB-ASSEMBLY

HINT:
Use the same procedure described for the No. 2 tie rod
end.

9.

REMOVE FRONT STABILIZER LINK ASSEMBLY LH

(See page SP-28)

Clip A

Clip B
G028294E02

PS

10. REMOVE FRONT STABILIZER LINK ASSEMBLY RH

HINT:
Use the same procedure described for the LH.

POWER STEERING STEERING GEAR

PS51

11. REMOVE FRONT NO. 1 STABILIZER BRACKET LH

(See page SP-28)
12. REMOVE FRONT NO. 1 STABILIZER BRACKET RH
HINT:
Use the same procedure described for the LH.
Intermediate Shaft

Matchmark
G028290E03

for LH Side

13. REMOVE STEERING INTERMEDIATE SHAFT

(a) Move the No. 1 column hole cover to the upper side
of the vehicle and put matchmarks on the
intermediate shaft and steering gear.
NOTICE:
Do not damage the No. 1 hole cover when
moving it.
(b) Remove the bolt and remove the intermediate shaft
from the inside of the vehicle.
(c) Remove the No. 1 column hole cover from the
steering gear.
NOTICE:
Do not damage the No. 1 hole cover clip.
14. REMOVE STEERING GEAR ASSEMBLY
(a) Remove the 4 bolts and steering gear from the left
side of the vehicle.
HINT:
Be careful not to hit the stabilizer bar when
removing the steering gear.

for RH Side

G028292E04

DISASSEMBLY
SST

1.

FIX STEERING GEAR ASSEMBLY

(a) Using SST wrapped with protective tape, secure the
steering gear in a vise.
SST 09612-00012
HINT:
Remove and reinstall the SST as needed.

2.

REMOVE TIE ROD END SUB-ASSEMBLY LH

(a) Put matchmarks on the tie rod end LH and rack end.
(b) Remove the tie rod end LH and lock nut.

3.

REMOVE TIE ROD END SUB-ASSEMBLY RH

HINT:
Use the same procedure described for the LH.

4.

REMOVE STEERING RACK BOOT CLIP

(a) Using pliers, remove the 2 rack boot clips (for RH
and LH).

Vinyl Tape

G028295E03

Matchmark
F040050E12

PS

PS52

POWER STEERING STEERING GEAR

5.

REMOVE NO. 2 STEERING RACK BOOT CLAMP

(a) Using a screwdriver, unstake and remove the
clamp.
NOTICE:
Do not damage the boot.

6.

REMOVE NO. 1 STEERING RACK BOOT CLAMP

HINT:
Use the same procedures described for the No. 2 rack
boot clamp.

7.

REMOVE NO. 2 STEERING RACK BOOT

8.

REMOVE NO. 1 STEERING RACK BOOT

9.

REMOVE STEERING RACK END SUB-ASSEMBLY

(a) Using 2 SST, remove the rack end (for LH side).
SST 09922-10010
NOTICE:
Use SST in the correct direction as shown in
the illustration.
Securely hold the steering rack.

G029447E02

for LH
SST

SST
G028298E04

(b) Using 2 SST, hold the steering rack LH side and

remove the rack end (for RH side).
SST 09922-10010
NOTICE:
Use SST in the correct direction as shown in
the illustration.
Securely hold the steering rack.

for RH
SST

SST
G028299E04

PS

POWER STEERING STEERING GEAR

PS53

INSPECTION
1.

INSPECT TIE ROD END SUB-ASSEMBLY LH

(a) Secure the tie rod end LH boll join in a vise through
aluminum plates.
NOTICE:
Do not overtighten the vise.
(b) Install the castle nut to the stud bolt.
(c) Flip the ball joint back and forth 5 times or more.
(d) Set a torque wrench to the nut, turn the ball joint
continuously at a rate of 3 to 5 seconds per turn,
and check the turning torque on the 5th turn.
Standard turning torque:
2.0 N*m (20.4 kgf*cm, 18 in. lbf) or less
If turning torque is out of specification, replace the
tie rod end LH with a new one.

2.

INSPECT TIE ROD END SUB-ASSEMBLY RH

HINT:
Use the same procedures described for the LH side.

3.

INSPECT TOTAL PRELOAD

(a) Using SST, inspect the total preload.
SST 09616-00011
Standard total preload (turning):
0.6 to 1.2 N*m (6.2 to 12.2 kgf*cm, 5 to 11
in.*lbf)
NOTICE:
Inspect around the steering rack center
position.
If the total preload is out of specification, replace the
steering gear with a new one.

SST

G028296E03

REASSEMBLY
1.

INSTALL STEERING RACK END SUB-ASSEMBLY

(a) Fill up the ball joints of the RH and LH rack ends
with molybdenum disulfide lithium base grease.

G029137E02

for RH Side
Fulcrum
Length

SST
SST

G028300E04

(b) Using 2 SST, hold the steering rack LH side and

install the rack end (for RH side).
SST 09922-10010
Torque: 60 N*m (612 kgf*cm, 44 ft.*lbf)
NOTICE:
Use a torque wrench with a fulcrum length of
345 mm (13.58 in.).
Use SST in the correct direction as shown in
the illustration.
Securely hold the steering rack.

PS

PS54

POWER STEERING STEERING GEAR

(c) Using 2 SST, install the rack end (for LH side).

SST 09922-10010
Torque: 60 N*m (612 kgf*cm, 44 ft.*lbf)
NOTICE:
Use a torque wrench with a fulcrum length of
345 mm (13.58 in.).
Use SST in the correct direction as shown in
the illustration.
Securely hold the steering rack.

Fulcrum
Length

for LH Side
SST

G028302E04

2.

INSTALL NO. 2 STEERING RACK BOOT

(a) Apply silicon grease to the inside of the small
opening of the boot.
(b) Install the boot in the groove on the rack housing.
NOTICE:
Make sure that the boot is not twisted.

3.

INSTALL NO. 1 STEERING RACK BOOT

HINT:
Use the same procedures described for the No. 2 boot.

4.

INSTALL NO. 2 STEERING RACK BOOT CLAMP

(a) Install a new clamp to the boot.
NOTICE:
Do not damage the boot.
(b) While pushing SST to the rack housing, pinch the
clamp so that the clearance is within specification.
SST 09521-24010
Standard clearance:
3.0 mm (0.12 in.) or less
NOTICE:
Make sure that the boot is not twisted.

5.

INSTALL NO. 1 STEERING RACK BOOT CLAMP

HINT:
Use the same procedures described for the No. 2 rack
boot clamp.

6.

INSTALL STEERING RACK BOOT CLIP

(a) Using pliers, install the 2 rack boot clips to the RH
and LH rack boots.

7.

INSPECT STEERING GEAR ASSEMBLY

(a) Using SST, turn the pinion shaft and check that the
RH and LH rack boots expand and contract
smoothly, reinstall it with a new rack boot clamp.
SST 09616-00011
If the rack boot does not expand and contract
smoothly, reinstall it with a new rack boot clamp.

C057755E02

3.0 mm (0.12 in.) or less

F040084E02

SST

PS

G028297E02

POWER STEERING STEERING GEAR

PS55

8.

INSTALL TIE ROD END SUB-ASSEMBLY LH

(a) Screw the lock nut and tie rod end LH on the rack
end unit the matchmarks are aligned and
temporarily tighten the lock nut.
HINT:
Fully tighten the lock nut after adjusting toe-in.

9.

REMOVE TIE ROD END SUB-ASSEMBLY RH

HINT:
Use the same procedures described for the LH side.

Matchmark
F040050E13

for LH Side

INSTALLATION

for RH Side

1.

INSTALL STEERING GEAR ASSEMBLY

(a) Install the steering gear from the left side of the
vehicle.
HINT:
Be careful not to hit the stabilizer bar when installing
the steering gear.
(b) Install the No. 1 column hole cover to the steering
gear.
(c) Install the steering gear to the crossmember with
the 4 bolts.
Torque: 58 N*m (591 kgf*cm, 43 ft.*lbf)

2.

INSTALL STEERING INTERMEDIATE SHAFT

(a) Move the No. 1 column hole cover to the upper side
of the vehicle, align the matchmarks, and install the
intermediate shaft from the inside of the vehicle.
NOTICE:
Do not damage the No. 1 hole cover when
moving it.
(b) Install the bolt.
Torque: 35 N*m (360 kgf*cm, 26 ft.*lbf)
(c) Fit the recessed part on the No. 1 column hole cover
to the steering gear.
NOTICE:
Make sure that the No. 1 hole cover is securely
installed.

3.

INSTALL FRONT NO. 1 STABILIZER BRACKET LH

(See page SP-29)

4.

INSTALL FRONT NO. 1 STABILIZER BRACKET RH

HINT:
Use the same procedures described for the LH side.

5.

INSTALL FRONT STABILIZER LINK ASSEMBLY LH

(See page SP-30)

6.

INSTALL FRONT STABILIZER LINK ASSEMBLY RH

HINT:
Use the same procedures described for the LH side.

7.

CONNECT NO. 1 TIE ROD END SUB-ASSEMBLY (See

page DS-16)

G028292E04

Intermediate
Shaft

Matchmark
G028290E04

PS

PS56

POWER STEERING STEERING GEAR

Clip A

Clip B

8.

CONNECT NO. 2 TIE ROD END SUB-ASSEMBLY

HINT:
Use the same procedures described for the No. 1 tie rod
end.

9.

INSTALL FRONT WHEEL

Torque: 103 N*m (1,050 kgf*cm, 76 ft.*lbf)

10. INSTALL NO. 1 STEERING COLUMN HOLE COVER

SUB-ASSEMBLY
(a) Install the clip labeled B to the vehicle body and
install the No. 1 column hole cover to the vehicle
body with the clip labeled A.
NOTICE:
Make sure that the lip of the No. 1 hole cover fits
on the dash panel correctly.

G028294E03

11. INSTALL STEERING SLIDING YOKE SUBASSEMBLY

(a) Align the matchmarks and install the sliding yoke to
the intermediate shaft with the bolt labeled B.
Torque: 35 N*m (360 kgf*cm, 26 ft.*lbf)
(b) Tighten the bolt labeled A.
Torque: 35 N*m (360 kgf*cm, 26 ft.*lbf)

Matchmark
Bolt A
Bolt B

12. INSTALL COLUMN HOLE COVER SILENCER SHEET

G029896E04

13. REPLACE FRONT WHEELS FACING STRAIGHT

AHEAD
14. INSPECT AND ADJUST FRONT WHEEL ALIGNMENT
(a) Inspect and adjust the front wheel alignment (see
page SP-2).
15. PERFORM STEERING ANGLE SENSOR ZERO POINT
CALIBRATION
(a) Perform initialization (see page IN-32).
NOTICE:
Certain systems need to be initialized after
disconnecting and reconnecting the cable from
the negative (-) battery terminal.

PS